The error is telling you it cannot find the class because it is not available in your application.
If you are using Maven, make sure you have the dependency for jstl
artifact:
<dependency>
<groupId>javax.servlet</groupId>
<artifactId>jstl</artifactId>
<version>1.2</version>
</dependency>
If you are not using it, just make sure you include the JAR in your classpath. See this answer for download links.